Abstract
This study discusses the lane-keeping-assistance system for multi-articulated vehicles. The lane-keeping controller
is designed by considering linear combination of the lateral displacement of the tractor and the relative yawing angle
between the tractor and the backward trailer. The effects of the assistance system are evaluated by examining
computer simulation with the driver-vehicle system which consists of the multi-articulated vehicle model, the
lane-keeping-assistance system and the driver model. The assistance system improves the lane-keeping performance
and reduces the driver’s steering effort under the lateral disturbance.
